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Improved comments.

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This commit is contained in:
Martin Budden 2015-12-29 06:16:18 +00:00 • committed by borisbstyle
parent b478d947f0
commit 5de4d1e489
1 changed files with 3 additions and 3 deletions
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6
src/main/flight/pid.c
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@ -143,10 +143,10 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// YAW is always gyro-controlled (MAG correction is applied to rcCommand) 100dps to 1100dps max yaw rate
AngleRate = (float)((rate + 10) * rcCommand[YAW]) / 50.0f;
} else {
// ACRO mode, control is GYRO based direct sticks control is applied to rate PID
// ACRO mode, control is GYRO based, direct sticks control is applied to rate PID
AngleRate = (float)((rate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max roll/pitch rate
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
// calculate error and limit the angle to the max inclination
// calculate error angle and limit the angle to the max inclination
#ifdef GPS
const float errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
@ -284,8 +284,8 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
AngleRateTmp = ((int32_t)(rate + 27) * rcCommand[YAW]) >> 5;
} else {
AngleRateTmp = ((int32_t)(rate + 27) * rcCommand[axis]) >> 4;
// calculate error and limit the angle to max configured inclination
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
// calculate error angle and limit the angle to max configured inclination
#ifdef GPS
const int32_t errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];